A novel particle filter bandwidth adaption for kernel particle filter （BAKPF） is proposed. Selection of the kernel bandwidth is a critical issue in kernel density estimation （KDE）. The plug-in method is adopted to...A novel particle filter bandwidth adaption for kernel particle filter （BAKPF） is proposed. Selection of the kernel bandwidth is a critical issue in kernel density estimation （KDE）. The plug-in method is adopted to get the global fixed bandwidth by optimizing the asymptotic mean integrated squared error （AMISE） firstly. Then, particle-driven bandwidth selection is invoked in the KDE. To get a more effective allocation of the particles, the KDE with adap- tive bandwidth in the BAKPF is used to approximate the posterior probability density function （PDF） by moving particles toward the posterior. A closed-form expression of the true distribution is given. The simulation results show that the proposed BAKPF performs better than the standard particle filter （PF）, unscented particle filter （UPF） and the kernel particle filter （KPF） both in efficiency and estimation precision.展开更多
四川大学计算机学院学生团队在大规模语言模型参数高效微调系统研究方向取得重要进展,其研究成果“mLoRA:Fine-Tuning LoRA Adapters via Highly-Efficient Pipeline Parallelism in Multiple GPUs”在国际数据库学术会议VLDB 2025 Rese...四川大学计算机学院学生团队在大规模语言模型参数高效微调系统研究方向取得重要进展,其研究成果“mLoRA:Fine-Tuning LoRA Adapters via Highly-Efficient Pipeline Parallelism in Multiple GPUs”在国际数据库学术会议VLDB 2025 Research Track正式发表。VLDB(International Conference on Very Large Data Bases)是数据库领域的重要国际学术会议之一,涵盖数据库管理系统、数据密集型系统与大规模数据处理等方向。该工作已在多个国内外互联网企业的实际生产环境中部署应用,并获得一项中国发明专利和一项美国发明专利的受理。展开更多
We consider a single server constant retrial queue,in which a state-dependent service policy is used to control the service rate.Customer arrival follows Poisson process,while service time and retrial time are exponen...We consider a single server constant retrial queue,in which a state-dependent service policy is used to control the service rate.Customer arrival follows Poisson process,while service time and retrial time are exponential distributions.Whenever the server is available,it admits the retrial customers into service based on a first-come first-served rule.The service rate adjusts in real-time based on the retrial queue length.An iterative algorithm is proposed to numerically solve the personal optimal problem in the fully observable scenario.Furthermore,we investigate the impact of parameters on the social optimal threshold.The effectiveness of the results is illustrated by two examples.展开更多
In the field of image processing,the analysis of Synthetic Aperture Radar(SAR)images is crucial due to its broad range of applications.However,SAR images are often affected by coherent speckle noise,which significantl...In the field of image processing,the analysis of Synthetic Aperture Radar(SAR)images is crucial due to its broad range of applications.However,SAR images are often affected by coherent speckle noise,which significantly degrades image quality.Traditional denoising methods,typically based on filter techniques,often face challenges related to inefficiency and limited adaptability.To address these limitations,this study proposes a novel SAR image denoising algorithm based on an enhanced residual network architecture,with the objective of enhancing the utility of SAR imagery in complex electromagnetic environments.The proposed algorithm integrates residual network modules,which directly process the noisy input images to generate denoised outputs.This approach not only reduces computational complexity but also mitigates the difficulties associated with model training.By combining the Transformer module with the residual block,the algorithm enhances the network's ability to extract global features,offering superior feature extraction capabilities compared to CNN-based residual modules.Additionally,the algorithm employs the adaptive activation function Meta-ACON,which dynamically adjusts the activation patterns of neurons,thereby improving the network's feature extraction efficiency.The effectiveness of the proposed denoising method is empirically validated using real SAR images from the RSOD dataset.The proposed algorithm exhibits remarkable performance in terms of EPI,SSIM,and ENL,while achieving a substantial enhancement in PSNR when compared to traditional and deep learning-based algorithms.The PSNR performance is enhanced by over twofold.Moreover,the evaluation of the MSTAR SAR dataset substantiates the algorithm's robustness and applicability in SAR denoising tasks,with a PSNR of 25.2021 being attained.These findings underscore the efficacy of the proposed algorithm in mitigating speckle noise while preserving critical features in SAR imagery,thereby enhancing its quality and usability in practical scenarios.展开更多
Shock wave caused by a sudden release of high-energy,such as explosion and blast,usually affects a significant range of areas.The utilization of a uniform fine mesh to capture sharp shock wave and to obtain precise re...Shock wave caused by a sudden release of high-energy,such as explosion and blast,usually affects a significant range of areas.The utilization of a uniform fine mesh to capture sharp shock wave and to obtain precise results is inefficient in terms of computational resource.This is particularly evident when large-scale fluid field simulations are conducted with significant differences in computational domain size.In this work,a variable-domain-size adaptive mesh enlargement(vAME)method is developed based on the proposed adaptive mesh enlargement(AME)method for modeling multi-explosives explosion problems.The vAME method reduces the division of numerous empty areas or unnecessary computational domains by adaptively suspending enlargement operation in one or two directions,rather than in all directions as in AME method.A series of numerical tests via AME and vAME with varying nonintegral enlargement ratios and different mesh numbers are simulated to verify the efficiency and order of accuracy.An estimate of speedup ratio is analyzed for further efficiency comparison.Several large-scale near-ground explosion experiments with single/multiple explosives are performed to analyze the shock wave superposition formed by the incident wave,reflected wave,and Mach wave.Additionally,the vAME method is employed to validate the accuracy,as well as to investigate the performance of the fluid field and shock wave propagation,considering explosive quantities ranging from 1 to 5 while maintaining a constant total mass.The results show a satisfactory correlation between the overpressure versus time curves for experiments and numerical simulations.The vAME method yields a competitive efficiency,increasing the computational speed to 3.0 and approximately 120,000 times in comparison to AME and the fully fine mesh method,respectively.It indicates that the vAME method reduces the computational cost with minimal impact on the results for such large-scale high-energy release problems with significant differences in computational domain size.展开更多
Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncerta...Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncertain systems characterized by unknown control directions and time-varying input delay lacks comprehensive solutions.In this paper,we propose an observerbased adaptive tracking controller to address this gap.Neural networks are utilized to handle uncertainty,and a unique coordinate transformation is employed to untangle the coupling between input delay and unknown control directions.Subsequently,a new auxiliary signal counters the impact of time-varying input delay,while a Nussbaum function is introduced to solve the problem of unknown control directions.The leverage of an advanced dynamic surface control technique avoids the“complexity explosion”and reduces boundary layer errors.Synthesizing these techniques ensures that all the closed-loop signals are semi-globally uniformly ultimately bounded(SGUUB),and the tracking error converges to a small region around the origin by selecting suitable parameters.Simulation examples are provided to demonstrate the feasibility of the proposed approach.展开更多
In complex environments such as high dynamics and weak signals,a satellite signal compensation method based on prefabricated trajectory assistance and an improved adaptive Kalman filter is proposed for a 155 mm differ...In complex environments such as high dynamics and weak signals,a satellite signal compensation method based on prefabricated trajectory assistance and an improved adaptive Kalman filter is proposed for a 155 mm differential rotating rear-body control-guided projectile to address the situation of satellite signal flickering and loss in projectile navigation systems due to environmental limitations.First,establish the system state and measurement equation when receiving satellite signals normally.Second,a seven-degree-of-freedom external ballistic model is constructed,and the ideal trajectory output from the ballistic model is used to provide the virtual motion state of the projectile,which is input into a filter as a substitute observation when satellite signals are lost.Finally,an adaptive Kalman filter(AKF)is designed,the proposed adaptive Kalman filter can accurately adjust the estimation error covariance matrix and Kalman gain in real-time based on information covariance mismatch.The simulation results show that compared to the classical Kalman filter,it can reduce the average positioning error by more than 38.21%in the case of short-term and full-range loss of satellite signals,providing a new idea for the integrated navigation of projectiles with incomplete information under the condition of satellite signal loss.展开更多
The ammunition loading system manipulator is susceptible to gear failure due to high-frequency,heavyload reciprocating motions and the absence of protective gear components.After a fault occurs,the distribution of fau...The ammunition loading system manipulator is susceptible to gear failure due to high-frequency,heavyload reciprocating motions and the absence of protective gear components.After a fault occurs,the distribution of fault characteristics under different loads is markedly inconsistent,and data is hard to label,which makes it difficult for the traditional diagnosis method based on single-condition training to generalize to different conditions.To address these issues,the paper proposes a novel transfer discriminant neural network(TDNN)for gear fault diagnosis.Specifically,an optimized joint distribution adaptive mechanism(OJDA)is designed to solve the distribution alignment problem between two domains.To improve the classification effect within the domain and the feature recognition capability for a few labeled data,metric learning is introduced to distinguish features from different fault categories.In addition,TDNN adopts a new pseudo-label training strategy to achieve label replacement by comparing the maximum probability of the pseudo-label with the test result.The proposed TDNN is verified in the experimental data set of the artillery manipulator device,and the diagnosis can achieve 99.5%,significantly outperforming other traditional adaptation methods.展开更多
Range-azimuth imaging of ground targets via frequency-modulated continuous wave(FMCW)radar is crucial for effective target detection.However,when the pitch of the moving array constructed during motion exceeds the phy...Range-azimuth imaging of ground targets via frequency-modulated continuous wave(FMCW)radar is crucial for effective target detection.However,when the pitch of the moving array constructed during motion exceeds the physical array aperture,azimuth ambiguity occurs,making range-azimuth imaging on a moving platform challenging.To address this issue,we theoretically analyze azimuth ambiguity generation in sparse motion arrays and propose a dual-aperture adaptive processing(DAAP)method for suppressing azimuth ambiguity.This method combines spatial multiple-input multiple-output(MIMO)arrays with sparse motion arrays to achieve high-resolution range-azimuth imaging.In addition,an adaptive QR decomposition denoising method for sparse array signals based on iterative low-rank matrix approximation(LRMA)and regularized QR is proposed to preprocess sparse motion array signals.Simulations and experiments show that on a two-transmitter-four-receiver array,the signal-to-noise ratio(SNR)of the sparse motion array signal after noise suppression via adaptive QR decomposition can exceed 0 dB,and the azimuth ambiguity signal ratio(AASR)can be reduced to below-20 dB.展开更多
Solar radio burst(SRB)is one of the main natural interference sources of Global Positioning System(GPS)signals and can reduce the signal-to-noise ratio(SNR),directly affecting the tracking performance of GPS receivers...Solar radio burst(SRB)is one of the main natural interference sources of Global Positioning System(GPS)signals and can reduce the signal-to-noise ratio(SNR),directly affecting the tracking performance of GPS receivers.In this paper,a tracking algorithm based on the adaptive Kalman filter(AKF)with carrier-to-noise ratio estimation is proposed and compared with the conventional second-order phase-locked loop tracking algo-rithms and the improved Sage-Husa adaptive Kalman filter(SHAKF)algorithm.It is discovered that when the SRBs occur,the improved SHAKF and the AKF with carrier-to-noise ratio estimation enable stable tracking to loop signals.The conven-tional second-order phase-locked loop tracking algorithms fail to track the receiver signal.The standard deviation of the carrier phase error of the AKF with carrier-to-noise ratio estimation out-performs 50.51%of the improved SHAKF algorithm,showing less fluctuation and better stability.The proposed algorithm is proven to show more excellent adaptability in the severe envi-ronment caused by the SRB occurrence and has better tracking performance.展开更多
With the rapid development of low-altitude economy and unmanned aerial vehicles (UAVs) deployment technology, aerial-ground collaborative delivery (AGCD) is emerging as a novel mode of last-mile delivery, where the ve...With the rapid development of low-altitude economy and unmanned aerial vehicles (UAVs) deployment technology, aerial-ground collaborative delivery (AGCD) is emerging as a novel mode of last-mile delivery, where the vehicle and its onboard UAVs are utilized efficiently. Vehicles not only provide delivery services to customers but also function as mobile ware-houses and launch/recovery platforms for UAVs. This paper addresses the vehicle routing problem with UAVs considering time window and UAV multi-delivery (VRPU-TW&MD). A mixed integer linear programming (MILP) model is developed to mini-mize delivery costs while incorporating constraints related to UAV energy consumption. Subsequently, a micro-evolution aug-mented large neighborhood search (MEALNS) algorithm incor-porating adaptive large neighborhood search (ALNS) and micro-evolution mechanism is proposed. Numerical experiments demonstrate the effectiveness of both the model and algorithm in solving the VRPU-TW&MD. The impact of key parameters on delivery performance is explored by sensitivity analysis.展开更多
As commercial drone delivery becomes increasingly popular,the extension of the vehicle routing problem with drones(VRPD)is emerging as an optimization problem of inter-ests.This paper studies a variant of VRPD in mult...As commercial drone delivery becomes increasingly popular,the extension of the vehicle routing problem with drones(VRPD)is emerging as an optimization problem of inter-ests.This paper studies a variant of VRPD in multi-trip and multi-drop(VRP-mmD).The problem aims at making schedules for the trucks and drones such that the total travel time is minimized.This paper formulate the problem with a mixed integer program-ming model and propose a two-phase algorithm,i.e.,a parallel route construction heuristic(PRCH)for the first phase and an adaptive neighbor searching heuristic(ANSH)for the second phase.The PRCH generates an initial solution by con-currently assigning as many nodes as possible to the truck–drone pair to progressively reduce the waiting time at the rendezvous node in the first phase.Then the ANSH improves the initial solution by adaptively exploring the neighborhoods in the second phase.Numerical tests on some benchmark data are conducted to verify the performance of the algorithm.The results show that the proposed algorithm can found better solu-tions than some state-of-the-art methods for all instances.More-over,an extensive analysis highlights the stability of the pro-posed algorithm.展开更多
The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a nove...The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a novel delivery mode.Spatiotemporal collaboration,along with energy consumption with payload and wind conditions play important roles in delivery route planning.This paper introduces the traveling salesman problem with time window and onboard UAV(TSPTWOUAV)and emphasizes the consideration of real-world scenarios,focusing on time collaboration and energy consumption with wind and payload.To address this,a mixed integer linear programming(MILP)model is formulated to minimize the energy consumption costs of vehicle and UAV.Furthermore,an adaptive large neighborhood search(ALNS)algorithm is applied to identify high-quality solutions efficiently.The effectiveness of the proposed model and algorithm is validated through numerical tests on real geographic instances and sensitivity analysis of key parameters is conducted.展开更多
基金supported by the National Natural Science Foundation of China (60736043 60805012)the Fundamental Research Funds for the Central Universities (K50510020032)
文摘A novel particle filter bandwidth adaption for kernel particle filter （BAKPF） is proposed. Selection of the kernel bandwidth is a critical issue in kernel density estimation （KDE）. The plug-in method is adopted to get the global fixed bandwidth by optimizing the asymptotic mean integrated squared error （AMISE） firstly. Then, particle-driven bandwidth selection is invoked in the KDE. To get a more effective allocation of the particles, the KDE with adap- tive bandwidth in the BAKPF is used to approximate the posterior probability density function （PDF） by moving particles toward the posterior. A closed-form expression of the true distribution is given. The simulation results show that the proposed BAKPF performs better than the standard particle filter （PF）, unscented particle filter （UPF） and the kernel particle filter （KPF） both in efficiency and estimation precision.
文摘四川大学计算机学院学生团队在大规模语言模型参数高效微调系统研究方向取得重要进展,其研究成果“mLoRA:Fine-Tuning LoRA Adapters via Highly-Efficient Pipeline Parallelism in Multiple GPUs”在国际数据库学术会议VLDB 2025 Research Track正式发表。VLDB(International Conference on Very Large Data Bases)是数据库领域的重要国际学术会议之一,涵盖数据库管理系统、数据密集型系统与大规模数据处理等方向。该工作已在多个国内外互联网企业的实际生产环境中部署应用,并获得一项中国发明专利和一项美国发明专利的受理。
基金supported by the National Natural Science Foundation of China(Grant No.11971486)。
文摘We consider a single server constant retrial queue,in which a state-dependent service policy is used to control the service rate.Customer arrival follows Poisson process,while service time and retrial time are exponential distributions.Whenever the server is available,it admits the retrial customers into service based on a first-come first-served rule.The service rate adjusts in real-time based on the retrial queue length.An iterative algorithm is proposed to numerically solve the personal optimal problem in the fully observable scenario.Furthermore,we investigate the impact of parameters on the social optimal threshold.The effectiveness of the results is illustrated by two examples.
文摘In the field of image processing,the analysis of Synthetic Aperture Radar(SAR)images is crucial due to its broad range of applications.However,SAR images are often affected by coherent speckle noise,which significantly degrades image quality.Traditional denoising methods,typically based on filter techniques,often face challenges related to inefficiency and limited adaptability.To address these limitations,this study proposes a novel SAR image denoising algorithm based on an enhanced residual network architecture,with the objective of enhancing the utility of SAR imagery in complex electromagnetic environments.The proposed algorithm integrates residual network modules,which directly process the noisy input images to generate denoised outputs.This approach not only reduces computational complexity but also mitigates the difficulties associated with model training.By combining the Transformer module with the residual block,the algorithm enhances the network's ability to extract global features,offering superior feature extraction capabilities compared to CNN-based residual modules.Additionally,the algorithm employs the adaptive activation function Meta-ACON,which dynamically adjusts the activation patterns of neurons,thereby improving the network's feature extraction efficiency.The effectiveness of the proposed denoising method is empirically validated using real SAR images from the RSOD dataset.The proposed algorithm exhibits remarkable performance in terms of EPI,SSIM,and ENL,while achieving a substantial enhancement in PSNR when compared to traditional and deep learning-based algorithms.The PSNR performance is enhanced by over twofold.Moreover,the evaluation of the MSTAR SAR dataset substantiates the algorithm's robustness and applicability in SAR denoising tasks,with a PSNR of 25.2021 being attained.These findings underscore the efficacy of the proposed algorithm in mitigating speckle noise while preserving critical features in SAR imagery,thereby enhancing its quality and usability in practical scenarios.
基金supported by the National Natural Science Foundation of China(Grant Nos.12302435 and 12221002)。
文摘Shock wave caused by a sudden release of high-energy,such as explosion and blast,usually affects a significant range of areas.The utilization of a uniform fine mesh to capture sharp shock wave and to obtain precise results is inefficient in terms of computational resource.This is particularly evident when large-scale fluid field simulations are conducted with significant differences in computational domain size.In this work,a variable-domain-size adaptive mesh enlargement(vAME)method is developed based on the proposed adaptive mesh enlargement(AME)method for modeling multi-explosives explosion problems.The vAME method reduces the division of numerous empty areas or unnecessary computational domains by adaptively suspending enlargement operation in one or two directions,rather than in all directions as in AME method.A series of numerical tests via AME and vAME with varying nonintegral enlargement ratios and different mesh numbers are simulated to verify the efficiency and order of accuracy.An estimate of speedup ratio is analyzed for further efficiency comparison.Several large-scale near-ground explosion experiments with single/multiple explosives are performed to analyze the shock wave superposition formed by the incident wave,reflected wave,and Mach wave.Additionally,the vAME method is employed to validate the accuracy,as well as to investigate the performance of the fluid field and shock wave propagation,considering explosive quantities ranging from 1 to 5 while maintaining a constant total mass.The results show a satisfactory correlation between the overpressure versus time curves for experiments and numerical simulations.The vAME method yields a competitive efficiency,increasing the computational speed to 3.0 and approximately 120,000 times in comparison to AME and the fully fine mesh method,respectively.It indicates that the vAME method reduces the computational cost with minimal impact on the results for such large-scale high-energy release problems with significant differences in computational domain size.
基金National Natural Science Foundation of China(62373102)Jiangsu Natural Science Foundation(BK20221455)Anhui Provincial Key Research and Development Project(2022i01020013)。
文摘Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncertain systems characterized by unknown control directions and time-varying input delay lacks comprehensive solutions.In this paper,we propose an observerbased adaptive tracking controller to address this gap.Neural networks are utilized to handle uncertainty,and a unique coordinate transformation is employed to untangle the coupling between input delay and unknown control directions.Subsequently,a new auxiliary signal counters the impact of time-varying input delay,while a Nussbaum function is introduced to solve the problem of unknown control directions.The leverage of an advanced dynamic surface control technique avoids the“complexity explosion”and reduces boundary layer errors.Synthesizing these techniques ensures that all the closed-loop signals are semi-globally uniformly ultimately bounded(SGUUB),and the tracking error converges to a small region around the origin by selecting suitable parameters.Simulation examples are provided to demonstrate the feasibility of the proposed approach.
基金funded by the National Natural Science Foundation of China (Grant No. 62471048)Open Fund Project of Beijing Key Laboratory of High Dynamic Navigation TechnologyKey Laboratory Fund Project of Modern Measurement and Control Technology, Ministry of Education
文摘In complex environments such as high dynamics and weak signals,a satellite signal compensation method based on prefabricated trajectory assistance and an improved adaptive Kalman filter is proposed for a 155 mm differential rotating rear-body control-guided projectile to address the situation of satellite signal flickering and loss in projectile navigation systems due to environmental limitations.First,establish the system state and measurement equation when receiving satellite signals normally.Second,a seven-degree-of-freedom external ballistic model is constructed,and the ideal trajectory output from the ballistic model is used to provide the virtual motion state of the projectile,which is input into a filter as a substitute observation when satellite signals are lost.Finally,an adaptive Kalman filter(AKF)is designed,the proposed adaptive Kalman filter can accurately adjust the estimation error covariance matrix and Kalman gain in real-time based on information covariance mismatch.The simulation results show that compared to the classical Kalman filter,it can reduce the average positioning error by more than 38.21%in the case of short-term and full-range loss of satellite signals,providing a new idea for the integrated navigation of projectiles with incomplete information under the condition of satellite signal loss.
文摘The ammunition loading system manipulator is susceptible to gear failure due to high-frequency,heavyload reciprocating motions and the absence of protective gear components.After a fault occurs,the distribution of fault characteristics under different loads is markedly inconsistent,and data is hard to label,which makes it difficult for the traditional diagnosis method based on single-condition training to generalize to different conditions.To address these issues,the paper proposes a novel transfer discriminant neural network(TDNN)for gear fault diagnosis.Specifically,an optimized joint distribution adaptive mechanism(OJDA)is designed to solve the distribution alignment problem between two domains.To improve the classification effect within the domain and the feature recognition capability for a few labeled data,metric learning is introduced to distinguish features from different fault categories.In addition,TDNN adopts a new pseudo-label training strategy to achieve label replacement by comparing the maximum probability of the pseudo-label with the test result.The proposed TDNN is verified in the experimental data set of the artillery manipulator device,and the diagnosis can achieve 99.5%,significantly outperforming other traditional adaptation methods.
基金supported by the National Natural Science Foundation of China under Grant 62301051.
文摘Range-azimuth imaging of ground targets via frequency-modulated continuous wave(FMCW)radar is crucial for effective target detection.However,when the pitch of the moving array constructed during motion exceeds the physical array aperture,azimuth ambiguity occurs,making range-azimuth imaging on a moving platform challenging.To address this issue,we theoretically analyze azimuth ambiguity generation in sparse motion arrays and propose a dual-aperture adaptive processing(DAAP)method for suppressing azimuth ambiguity.This method combines spatial multiple-input multiple-output(MIMO)arrays with sparse motion arrays to achieve high-resolution range-azimuth imaging.In addition,an adaptive QR decomposition denoising method for sparse array signals based on iterative low-rank matrix approximation(LRMA)and regularized QR is proposed to preprocess sparse motion array signals.Simulations and experiments show that on a two-transmitter-four-receiver array,the signal-to-noise ratio(SNR)of the sparse motion array signal after noise suppression via adaptive QR decomposition can exceed 0 dB,and the azimuth ambiguity signal ratio(AASR)can be reduced to below-20 dB.
基金supported by the Foundation of Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology,Ministry of Education,Chinathe National Natural Science Foundation of China (61873064)
文摘Solar radio burst(SRB)is one of the main natural interference sources of Global Positioning System(GPS)signals and can reduce the signal-to-noise ratio(SNR),directly affecting the tracking performance of GPS receivers.In this paper,a tracking algorithm based on the adaptive Kalman filter(AKF)with carrier-to-noise ratio estimation is proposed and compared with the conventional second-order phase-locked loop tracking algo-rithms and the improved Sage-Husa adaptive Kalman filter(SHAKF)algorithm.It is discovered that when the SRBs occur,the improved SHAKF and the AKF with carrier-to-noise ratio estimation enable stable tracking to loop signals.The conven-tional second-order phase-locked loop tracking algorithms fail to track the receiver signal.The standard deviation of the carrier phase error of the AKF with carrier-to-noise ratio estimation out-performs 50.51%of the improved SHAKF algorithm,showing less fluctuation and better stability.The proposed algorithm is proven to show more excellent adaptability in the severe envi-ronment caused by the SRB occurrence and has better tracking performance.
基金supported by the Fundamental Research Funds for the Central Universities(2024JBZX038)the National Natural Science Foundation of China(62076023).
文摘With the rapid development of low-altitude economy and unmanned aerial vehicles (UAVs) deployment technology, aerial-ground collaborative delivery (AGCD) is emerging as a novel mode of last-mile delivery, where the vehicle and its onboard UAVs are utilized efficiently. Vehicles not only provide delivery services to customers but also function as mobile ware-houses and launch/recovery platforms for UAVs. This paper addresses the vehicle routing problem with UAVs considering time window and UAV multi-delivery (VRPU-TW&MD). A mixed integer linear programming (MILP) model is developed to mini-mize delivery costs while incorporating constraints related to UAV energy consumption. Subsequently, a micro-evolution aug-mented large neighborhood search (MEALNS) algorithm incor-porating adaptive large neighborhood search (ALNS) and micro-evolution mechanism is proposed. Numerical experiments demonstrate the effectiveness of both the model and algorithm in solving the VRPU-TW&MD. The impact of key parameters on delivery performance is explored by sensitivity analysis.
文摘As commercial drone delivery becomes increasingly popular,the extension of the vehicle routing problem with drones(VRPD)is emerging as an optimization problem of inter-ests.This paper studies a variant of VRPD in multi-trip and multi-drop(VRP-mmD).The problem aims at making schedules for the trucks and drones such that the total travel time is minimized.This paper formulate the problem with a mixed integer program-ming model and propose a two-phase algorithm,i.e.,a parallel route construction heuristic(PRCH)for the first phase and an adaptive neighbor searching heuristic(ANSH)for the second phase.The PRCH generates an initial solution by con-currently assigning as many nodes as possible to the truck–drone pair to progressively reduce the waiting time at the rendezvous node in the first phase.Then the ANSH improves the initial solution by adaptively exploring the neighborhoods in the second phase.Numerical tests on some benchmark data are conducted to verify the performance of the algorithm.The results show that the proposed algorithm can found better solu-tions than some state-of-the-art methods for all instances.More-over,an extensive analysis highlights the stability of the pro-posed algorithm.
基金Fundamental Research Funds for the Central Universities(2024JBZX038)National Natural Science F oundation of China(62076023)。
文摘The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a novel delivery mode.Spatiotemporal collaboration,along with energy consumption with payload and wind conditions play important roles in delivery route planning.This paper introduces the traveling salesman problem with time window and onboard UAV(TSPTWOUAV)and emphasizes the consideration of real-world scenarios,focusing on time collaboration and energy consumption with wind and payload.To address this,a mixed integer linear programming(MILP)model is formulated to minimize the energy consumption costs of vehicle and UAV.Furthermore,an adaptive large neighborhood search(ALNS)algorithm is applied to identify high-quality solutions efficiently.The effectiveness of the proposed model and algorithm is validated through numerical tests on real geographic instances and sensitivity analysis of key parameters is conducted.
